raisim::rscene::ContactMaterial

struct · #include <raisim/Rscene.hpp>

A contact_material record: the material-pair properties of two RaiSim contact materials, passed to World::setMaterialPairProp() in this order.

Public attributes

materialA

std::string materialA

The two contact material names.

materialB

std::string materialB

friction

double friction

Friction coefficient, restitution and restitution threshold (m/s).

restitution

double restitution

restitutionThreshold

double restitutionThreshold

staticFriction

double staticFriction

Static friction coefficient and its transition speed (m/s).

staticFrictionVelocityThreshold

double staticFrictionVelocityThreshold

rollingFriction

double rollingFriction

Rolling and spinning friction coefficients.

spinningFriction

double spinningFriction